EXPERT SYSTEMS AND SOLUTIONS

Email: expertsyssol@gmail.com
expertsyssol@yahoo.com
Cell: 9952749533
www.researchprojects.info
PAIYANOOR, OMR, CHENNAI
Call For Research Projects Final
year students of B.E in EEE, ECE,
EI, M.E (Power Systems), M.E
(Applied Electronics), M.E (Power
Electronics)
Ph.D Electrical and Electronics.
Students can assemble their hardware in our
Research labs. Experts will be guiding the
projects.
The International Organization for Standardization gives a
definition of robot in ISO 8373: "an automatically controlled,
reprogrammable, multipurpose, manipulator programmable
in three or more axes, which may be either fixed in place or
mobile for use in industrial automation applications." This
definition is used by the International Federation of Robotics
, the European Robotics Research Network (EURON), and
many national standards committees.

"A robot is a reprogrammable, multi-functional manipulator

designed to move material, parts, tools, or specialized devices
through variable programmed motions for the performance of a
variety of tasks." (Robotics Institute of America)
• Fanuc Robotics (Japan)
• Kuka (Germany)
• ABB  (1988 through merger of ASEA of Sweden
and Brown, Boveri & Cie of Switzerland)
• Stäubli (Switzerland)
• Adept  (USA)
• Yskawa Motorman (Japan)
Robots are used in almost any industry where
repetitive tasks are involved, or the task is difficult
manually, or dangerous, such as
 welding, painting, or surface finishing in the aerospace or
automotive industries
 electronics and consumer products assembly and
inspection inspection of parts by robot assisted sensors or
in the form of a Coordinate Measurement Machine (CMM)
 underwater and space exploration hazardous waste
remediation in government labs, nuclear facilities,
and medical labs
 Cartesian or gantry robot: Cartesian robots have three
linear joints that use the Cartesian coordinate system (X, Y, and Z). They
also may have an attached wrist to allow for rotational movement. The
three prismatic joints deliver a linear motion along the axis.
 Cylindrical robot : The robot has at least one rotary joint at the
base and at least one prismatic joint to connect the links. The rotary joint
uses a rotational motion along the joint axis, while the prismatic joint
moves in a linear motion. Cylindrical robots operate within a cylindrical-
shaped work envelope.
 Spherical Robot
 Scara : Commonly used in assembly application, this selectively
compliant arm assembly is primarily cylindrical in design. It features two
parallel joints that provide compliance in one selected plane .
 Articulate: All joints are revolute. Most industrial robots are of
this type.
 Parallel Link: example Stewart’s platform, spider from Adept
Cartesian (PPP)
Cylindrical (RPP)

Spherical
(RRP) Spherical (RRP)
 Robot consists of rigid links connected to
one another by joints which allow relative
motion of neighboring links
 Links
 Joints
 Prismatic: Sliding joint
 Revolute: rotation
 End effector:
 A the free end of the link chain (normaly
wrist) is the end-effector.
 Gripper
 Welding torch
 Electro magnet
 Or any other tool
 Payload is the maximum load the that robot
can carry with out compromising its speed
and accuracy.
 Always specified at some distance from
wrist.
 Auxiliary payload:
 The load which can be put on other arms
 Normally much higher then actual payload
 Number of independent variables used to
define the configuration of the robot
 Number of motors used gives the dof of robot
 In 3-D space the robot must have 6 dof to position
and orient the tool
▪ 3-dof for positioning
▪ Another 3-dof for orientation of the tool
 Two types of work volume
 Dextrous : is that volume of space which the robot
end-effector can reach with all orientation
 Reachable work volume: that volume of space
which the robot can reach with at least one
orientation
 A taught point is one that the robot is
moved to physically, and then the joint
position recorded/stored
 Points are taught using teach pendent
 Repeatability is the precision by which the
robot can be positioned at its taught point
 The precision with which the computed
points can be attained is called accuracy.
 Computed point are points which the robot
has to reach but were never taught to it. For
example point coming from camera or
directly programmed
 Accuracy is lower bounded by repeatability
 Accuracy is affected by the precision of
parameters appearing in the kinematic equations.
E.x. Error in DH parameters
 Real time
 i/o cards (analog and digital) can be attached to robot
controller
 i/o signals are read in real time and action taken
 There is a upper limit to the maximum number of i/o the
robot can access
 Non-real time
 Cannot be used to generate interrupts
 Cannot be used modify the motion all ready started
 OPC, serial communication etc, (manufacturer
dependent)
 The orientation of an object can be defined
by attaching a coordinate system to the
object and then describing it with respect to
some reference coordinate system
 Tool coordinate system
 attached to the tool or end effector
 Wrist coordinate system
 Attached to the wrist of the robot. Fixed during manufacturing. Tool
C.S is defined w.r.t this
 Base coordinate system
 Attached to the work piece or table etc
 Global / world coordinate system
 A fixed coordinate system w.r.t the robot. All other coordinate system
gets calibrated with respect to this.
 Actuator coordinate system
 Translation: when origin one coordinate
system (C.S.) is displaced w.r.t a ref. C.S.
The axis remain parallel
 Rotation: When one C.S. is rotated about any
axis in some ref. C.S. This is described by a
3x3 rotation matrix.
 Transformation = rotation and translation
 To completely describe a tool with respect to
some C.S we need to know both the
 Position of the origin of tool C.S
 And Orientation of the tool C.S
 Frame includes both position and orientation
of an object
 Mapping between frames is carried out using
Homogeneous transformation. It is a 4X4
matrix
 Roll pitch yaw
Start with the frame {B} coincident with a known referance frame
{A}.First rotate {b} about X̂ A by an angle  , then about ŶA
by an angle  . and then rotate about Ẑ A by an angle 
  Z-Y-X Eural angle
Start with frame {B} consident with known frame {A}.
First rotate {B} about Ẑ B by an angle  , then rotate
about ŶB by an angle  , and the rotate about X̂ B by angle 

 Z-Y-Z Eular angle

Start with frame {B} consident with known frame {A}.

First rotate {B} about Ẑ B by an angle  , then rotate
about ŶB by an angle  , and the rotate about Ẑ B by angle 
 Equivalent angle axis
Start with frame {B} consident with known frame {A}.
First rotate {B} about a vector A K̂ by an angle  , according to the right hand
rule
 Forward kinematics
 Given the joint find the configuration (orientation
+ position) of the Tool Coordinate Point (TCP)
w.r.t world or base frame
 Solution easy
 Use in coordinate measuring machine
 Inverse kinematics
 Given the configuration of TCP find the joint angle
 A system is solvable if some algorithm exist to find
all joint angles, given the end-effector position
and orientation
 Equation are nonlinear- difficult to solve
 Multiple solutions may exist
 Method of solution
 Closed form solution
▪ Pieper showed that robots having 6dof and 3 consecutive
intersect at a point can have closed form solution
 Numerical solution
 For kinematic point a link is
described by two attribute
 Link length “ai-1”
▪ Directed from axis “i-1” to
“i”
 Link twist “i “
▪ As per rigahd rule thumb
along “ai-1”
 Each link is numbered
starting from zero for the
ground link or Base link
 When is “ai-1” not defined uniquely ?
 Axis intersects
 Axis are parallel
 When is “i “ not defined uniquely?

 Choose what ever suits you.

 When one link is described
w.r.t another link two more
parameters come into
picture
 Link offset “di”
 Joint angle “i”
 Either of to is variable
 Prismatic d is variable
 Revolute is variable
 These four parameter ai-
1,i, di,i is called Denavit-
Hartenberg parameter
 “d” and “”
 What is the direction of “d” and 
 Pointing from axis “i-1” to “I”
 For  use right hand rule

Now will fix coordinate system to each link

 Axis specific motion
 PTP the fastest motion
 Path related motions
 Linear
 Circular
 Spline
Multiple solution is a problem
for PTP motion only
 How multiple solution is help full ?
 Obstacle avoidance
 Occurs only in case of PTP motion
 Orientation control:
 The orientation of a tool can be different at the start point and
end point of a motion. There are several different types of
transition from the start orientation to the end orientation.
 Types of control
 Slandered
 Wrist PTP
 constant
 The orientation of the tool changes continuously during the
motion. The orientation is achieved by rotating and pivoting about
the TCP.
 The CP motion is broken down into several small PTP
motions by the robot controller.
 This excludes the possibility of a singularity occurring in
the case of Wrist PTP. The robot can deviate slightly
from its path, however.
 Wrist PTP not suitable if the robot must follow its path
exactly, e.g. in the case of laser welding.
 The orientation of tool remains constant
 Start position orientation is fixed
 End position orientation is disregarded
 Needs 3 points
 Draws only half circle (specific to KUKA)
 Singularity comes from matrix inversion
 one to one correspondence between joint
C.S and Cartesian C.S. is lot
 Singularity is a configuration of the robot
 One or more degree of freedom is lost
 Small change in Cartesian coordinate results
in large change joint motion.
 For articulate 6 dof robot 3 types of singularity
exists ( for example KukaR6)
 Overhead: the wrist root point (intersection of axes A4, A5 andA6) is
located vertically above axis 1.
 Extended: the wrist root point (intersection of axes A4, A5 and A6) is
located in the extension of axes A2 and A3 of the robot. The robot is at its limit
of work volume
 Wrist : In the wrist axis singularity position, the axes A4 and A6 are
parallel to one another and axis A5 is within the range ±0.01812°
 It is a multidimensional form of derivative
 Relates joint velocity with Cartesian co-ordinate.
 It is square matrix called J
 J is a function of joint angles
 When the Jacobian becomes singular i.e. det(J) =
0, under certain configuration the, the robot is
said to be in singular position
 SCARA Robot Kinematics
 A 4-axis SCARA (Selective Compliance Assembly Robot Arm) robot has parallel
shoulder, elbow, and wrist rotary joints, and a linear vertical axis through the
center of rotation of the wrist. This type of manipulator is very common in light-
duty applications such as electronic assembly.
 Mechanism Description
 In this example, the upper-arm length (L ) is 400 mm, and the lower-arm
1

length (L ) is 300 mm. The shoulder joint (S), the elbow joint (E), and the
2

wrist joint (W) have resolutions of 1000 counts per degree. Rotation in the
positive direction for all 3 joints is counter-clockwise when viewed from the
top. The vertical axis (V) has a resolution of 100 counts per millimeter, and
movement in the positive direction goes up. When the shoulder, elbow, and
wrist joints are at their zero-degree positions, the two links are both
extended along the X-axis and the tool orientation C is at zero degrees.
When the vertical axis is at its home position, it is 250 mm above the Z-axis
zero point. Due to wiring constraints, rollover of the rotary axes is not
permitted.

 Forward Kinematics
 Inverse Kinematics
 Limiting ourselves to positive values of the elbow (E) angle, producing the right-armed
case (done by selecting the positive arc-cosine solutions), we can write our inverse
kinematic equations as follows:
 Velocity of tool point w.r.t joint speed
x  {L1 sin( S )  L2 sin( S  E )}S  L2 sin( S  E ) E
y  {L cos(S )  L cos(S  E )}S  L cos(S  E ) E
1 2 2

C  S  E  W
z  V
Or in matrix form
 x   L1 sin( S )  L2 sin( S  E )  L2 sin(S  E ) 0 0  S 
 y   L cos(S )  L cos(S  E ) L cos(S  E )  
  1 2 2 0 0  E   J  L1 L2 Sin( E )
*
 c   1 1 1 0 W 
     
 z   0 0 0 1  V  Singulatity when J  0
  L1 sin(S )  L2 sin(S  E )  L2 sin(S  E ) 0 0
 L cos(S )  L cos(S  E ) L cos(S  E ) 0 0 E0
J  1 2 2

 1 1 1 0
 
 0 0 0 1